System and method of laundry sorting

ABSTRACT

A laundry sorting and evaluation system includes a housing having an opening and defining a laundry path. First and second platforms are positioned within the housing, each operably connected to a motor. First and second cameras are respectively associated with the platforms and are configured to acquire at images of an item of laundry on each of the first and second platforms. A controller is configured to receive the images and produce an evaluation of a condition of the item of laundry based upon the received images.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority of U.S. Provisional Patent ApplicationNo. 63/222,775, filed on Jul. 16, 2021 and which is incorporated byreference herein in its entirety.

BACKGROUND

The present disclosure relates to the field of laundry. Morespecifically, the present disclosure relates to the automated evaluationand sorting of laundry.

Automated laundry systems provide for the cost-effective andecologically efficient cleaning of soiled laundry. Food, beverage, andhospitality industries, as well as medical and dental fields, requirethe frequent washing of large volumes of laundry.

U.S. Pat. No. 9,908,152 discloses a method for sorting laundry items, inparticular dirty laundry items. U.S. Pat. No. 9,920,470 discloses amethod for capturing an item of laundry. U.S. Pat. No. 9,988,220discloses a method and apparatus for feeding items of laundry to amangle or another laundry-treatment arrangement. U.S. Pat. No. 9,230,329discloses a method, computer program, and apparatus for determining agripping location. Each of these are incorporated by reference herein intheir entireties.

BRIEF DISCLOSURE

In an example of a laundry sorting and evaluation system, the systemincludes a housing that defines a laundry path. A first platform islocated within the housing. The first platform is operably connected toa first motor. The first motor is operable to move the first platformbetween a supportive position and at least one dispositive position. Afirst camera is associated with the first platform and is configured toacquire at least one image of an item of laundry on the first platform.A second platform is located within the housing. The second platform isoperably connected to a second motor. The second motor is operable tomove the second platform between a supportive position and at least onedispositive position. A second camera is associated with the secondplatform and is configured to acquire at least one image of the item oflaundry on the second platform. A controller is configured to receivethe at least one image from the first camera and the at least one imagefrom the second camera and to produce an evaluation of a condition ofthe item of laundry.

In another example of a laundry sorting and evaluation system, thesystem includes a housing having an opening and defining a laundry path.A first platform is within the housing. The first platform is operablyconnected to a first motor. The first motor is configured to move thefirst platform between a supportive position and at least onedispositive position. A first camera is associated with the firstplatform and configured to acquire at least one first image of an itemof laundry on the first platform in the supportive position. A secondplatform is within the housing. The second platform is below the firstplatform. The second platform is operably connected to a second motor.The second motor is configured to move the second platform between asupportive position and at least one dispositive position. A secondcamera is associated with the second platform and configured to acquireat least one second image of the item of laundry on the second platformin the supportive position. A controller is configured to receive the atleast one image from the first camera and the at least one image fromthe second camera. The controller is configured to produce an evaluationof a condition of the item of laundry based upon the at least one firstimage and the at least one second image.

In a further example of a laundry sorting and evaluation system, thesystem includes a housing having an opening and defining a laundry path.A load cell is within the housing and configured to weigh the item oflaundry. A first platform is within the housing. The first platform isoperably connected to a first motor. The first motor is configured tomove the first platform between a supportive position and at least onedispositive position. A first camera is associated with the firstplatform. The first camera is configured to acquire at least one firstimage of an item of laundry on the first platform in the supportiveposition. A second platform is within the housing. The second platformis below the first platform. The second platform is operably connectedto a second motor. The second motor is configured to move the secondplatform between a supportive position and at least one dispositiveposition. A second camera is associated with the second platform. Thesecond camera is configured to acquire at least one second image of theitem of laundry on the second platform in the supportive position. Acontroller is configured to receive the at least one first image fromthe first camera, the at least one second image from the second camera,and a weight from the load cell. The controller is configured to producean evaluation of the condition of the laundry based upon the at leastone first image the at least one second image, and the weight. If theevaluation is an acceptable condition, the controller is configured tooperate the second motor to move the second platform to the firstdispositive position. If the evaluation is an unacceptable condition,the controller is configured to operate the second motor to move thesecond platform to the second dispositive position.

Examples of the laundry evaluation and sorting system may furtherinclude a robotic singulator. The robotic singulator may include anarticulable robotic arm. The articulable robotic arm may have an endeffector at the end of the robotic arm. The end effector is configuredto grasp an item of laundry. A singulator camera is positioned inproximity to the end effector and is configured to obtain at least onelaundry image. A singulator controller is configured to receive the atleast one laundry image, create a point-cloud from the at least oneimage, select a peak of the point-cloud in reference to a referencepoint, and control the end effector to the peak of the point-cloud tograsp the item of laundry.

In an example of a method of evaluating and sorting an item of laundry,a first camera acquires at least one first image of an item of laundrysupported on a first platform in a supportive position. A controllerreceives the at least one first image from the first camera. Thecontroller operates a first motor to move the first platform to adispositive position. A second camera acquires at least one second imageof the item of laundry supported on a second platform in a supportiveposition. The controller receives the at least one second image from thesecond camera. The controller operates to produce an evaluation of thecondition of the laundry based upon the at least on first image and theat least one second image. Based upon the evaluation by the controller,the controller operates a second motor to move the second platform to afirst dispositive position or a second dispositive position.

In further examples of the method, the controller may receive a weightof the item of laundry from a load cell positioned relative to the firstplatform. The controller may operate to produce the evaluation of thecondition of the laundry further based upon the received weight. Themethod may further include illuminating the item of laundry on the firstplatform and illuminating the item of laundry on the second platform. Instill further examples of the method, the controller operates toidentify the item of laundry.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of an example of a system for sorting andevaluating laundry.

FIG. 2 is a front isometric view of an example of the system for sortingand evaluating laundry with a portion of the housing removed to depictthe components therein.

FIG. 3 is an isometric view of the example of the system for sorting andevaluating laundry with the portion of the housing removed to depict thecomponents therein.

FIG. 4 is a system diagram of an example of the system for sorting andevaluating laundry.

FIG. 5 depicts an example of a robotic singulator.

FIG. 6 further depicts the example of a robotic singulator.

DETAILED DISCLOSURE

Currently available washing systems can clean, dry, and even fold piecesof laundry. Customer-facing laundry items, including but not limited to,towels, sheets, robes, napkins, tablecloths, or scrubs, must also meetfunctional and aesthetic specifications or be replaced. Discoloration,fraying, or tearing may all be reasons that a piece of laundry is nolonger acceptable for commercial use. Systems and methods for theevaluation and sorting of laundry based upon functional and aestheticqualities are disclosed herein.

In an automated laundry system and process, articles of laundry arecleaned as a batch of like items and/or colors. The washed items aredried, for example with the use of a mangle, which wrings water from thewashed laundry. Particularly in the cleaning of commercial laundry, thelaundry is then bagged for delivery to the customer. However, aspreviously noted, customer-facing laundry must meet quality standards,particularly, but not limited to those in the food, beverage, andhospitality industries. Specifically, customers in those industriesdesire laundry that is free from discoloration or visible signs of wearor damage.

A sorting apparatus is disclosed herein and depicted in FIG. 1 thatevaluates each piece of laundry and determines if the laundry meets thepredetermined quality standards and should be prepared for delivery tothe customer or if the piece of laundry fails to meet these standardsand should be segregated for disposal. FIG. 1 presents an example of asystem 100 for the evaluation and categorization of laundry. The system100 includes a hollow housing 102 which is, for example, constructed ofsheet metal or plastic. The housing 102 defines a laundry path 104through which laundry travels for example by force of gravity.Individual items of laundry 106 are lifted to the opening 108 of thehousing 102, for example by a conveyor 110. In other examples, the itemsof laundry may be brought to the opening 108 by a robotic or driven endeffector. One example of a robotic singulator which may be used inconnection with examples of the system 100 as described herein is shownin and further described with respect to FIGS. 5 and 6 . In stillfurther examples, the system 100 may be arranged at a position below theoutlet of a preceding piece of laundry equipment, for example, a mangle.In examples, the item of laundry 106 may be bunched or may havepreviously been pressed or flattened.

FIG. 2 is a front isometric view of the system 100 with a portion of thehousing 102 removed to better depict the components therein. The system100 includes a plurality of platforms 112A-C located within the housing102. Each platform 112A-C defines an evaluation zone 116A-C within thehousing 102 along the laundry path 104. Each of the platforms 112A-C arepivotably mounted within the housing 102 and operable by a motor 114A-Cto rotate about a shaft 130A-C between at least a supportive positionand at least one dispositive position. The supportive position of eachof the platforms 112A-C has the platform 112 extend across the laundrypath 104 within the housing 102 to receive a piece of laundry thereonand hold the piece of laundry in a respective evaluation zone 116A-C forthe evaluation described herein. The at least one dispositive positionof each of the platforms 112A-C is at least an angle at which the forceof gravity overcomes the friction between the piece of laundry and theplatform 112 such that the piece of laundry slides and/or falls from theplatform 112 down the laundry path 104. In one example, the at least onedispositive position may include a 90° angle or a 120° angle from thesupportive position. In other examples, the at least one dispositiveposition may be an angle calculated based upon a coefficient of frictionbetween the platform and expected frictional qualities of the piece oflaundry, including, but not limited to an expected water content of thepiece of laundry during evaluation. In examples, as provided herein, theplatform 112 may reciprocate between the at least one dispositiveposition and the supportive position (e.g. between a 90° angle and a 0°angle). While in other examples, the platform 112 may rotate 180° foreach piece of laundry or 360° for each piece of laundry to ensure thatthe at least one dispositive position is reached and to return theplatform 112 to the supportive position.

In an example, the item of laundry enters the opening 108, falling tothe first platform 112A. FIG. 2 depicts the platforms 112 in thesupportive positions. The fall of the item of laundry through theopening 108 to the first platform 112A may help to spread the item oflaundry out when it comes to rest on the platform 112A. Each platform112A-C defines an evaluation zone 116A-C within the housing 102. Eachevaluation zone 116A-C includes a camera 118A-C. The cameras 118A-Coperate to acquire at least one image of the item of laundry on therespective platforms 112A-C. The cameras 118A-C communicate the acquiredimages to a controller 200, described in further detail with respect toFIG. 4 . The controller processes the received images and operates thesystem based at least in part upon the processed images. Images from thecamera 118A are exemplarily evaluated by the controller 200 to confirmsthat an item of laundry is located on the platform 112A. Thisconfirmation may further include a confirmation that the item of laundrylocated on the platform 112A is the type of laundry item expected forprocessing. For example, if the system 100 is configured for processinga batch of laundry made up entirely of towels, the confirmation includesconfirmation that the item of laundry located on the platform 112A is atowel. Such evaluation may be performed in the manners as describedherein. In another example, the system 100 may be configured to evaluatea batch of mixed laundry items. In such example, the confirmation thatan item of laundry is located on the platform 112A may include anidentification of the type of laundry item (e.g. towel, washcloth, tablecloth, pillow case, etc.). Upon such identification, the controller 200may operate to select the algorithms, models, and/or criteria upon whichfurther evaluation of that item of laundry is evaluated within thesystem 100.

The platform 112A further includes a load cell 120. Once an item oflaundry is confirmed on the platform 112A, the load cell 120 operates toweigh the item of laundry. In an example, the quality of the item oflaundry may be evaluated based at least in part upon the weight of theitem of laundry. In an example, a minimum threshold weight for aparticular item of laundry may be defined (e.g. 65 g). The weight of theitem of laundry may be a measure of degradation, wear, or integrity ofthe item of laundry. For example, loss of pile, fraying, or holes in anitem of laundry may be detected in a reduction of weight from anexpected value. In a non-limiting example, towel or washcloth materialmay exemplarily range between 400-700 g/m². Specific laundry items maythus have an expected weight or an acceptable weight range defined forthe item. In additional examples, particular kinds or styles of itemswithin an item type may have a specified expected or acceptable weightrange. In another example, the nominal or full weight of the item oflaundry may be predefined and a minimum acceptable weight is apredetermined percentage of the nominal or full item weight. After theitem of laundry is weighed, the motor 114A is operated to move theplatform 112A from the supportive position to the dispositive position.FIG. 3 depicts platform 112A and platform 112C in examples ofdispositive positions. Once the platform 112A is rotated to or through adispositive position, for the item of laundry, the item of laundry willslide or fall off of the platform 112A and into the evaluation zone116B, falling on the platform 112B. In a further example, the platform112A rotates 180° or 360° to drop the item of laundry off of theplatform 112A. This may also impart a rotational moment on the item oflaundry, which causes the item of laundry to reverse sides and spreadout on the platform 112B.

In the evaluation zone 116B, the camera 118B acquires at least one imageof the item of laundry and provides the at least one image to thecontroller 200. The image of the item is processed by the controller 200to evaluate the color of the item of laundry and a condition of the itemof laundry. In examples, the controller 200 may be configured with theidentification and specifications of the item of laundry to beevaluated, along with the color and condition ranges and definitions. Inother examples, the previous identification of the item of laundry notedabove is used to select the specifications of color and condition rangesand definitions.

In an example, the acceptable range of color of the item of laundry ispredetermined and stored in a memory 202 associated with the controller200. The acceptable range of color of the item of laundry may be storedas a range of pixel color values identified within the image of the itemof laundry. The controller 200 may further evaluate the at least oneimage for regions of color discontinuity, for example, to determinestreaking or localized staining in the item of laundry. Such evaluationmay include calculating a gradient of pixel color values and applyingedge detection processing to identify regions of color discontinuity.

Additionally, the controller 200 evaluates the at least one imageacquired by the camera 118B to evaluate the condition of the item oflaundry. In an example, the controller may apply an image processingalgorithm trained with sample images representing various types ofdamaged laundry. In an example, the training may be specific to aparticular type of laundry item to be evaluated (e.g. towels, napkins,pillowcases, or sheets) while in other cases the training data may begeneralized across multiple types of laundry or similar types oflaundry. The training data may provide examples of fraying, holes, ortears. In examples, these may be used to create models of particulartypes of damage to which the acquired at least one image is compared, instill further examples, the damage may be further identified using edgedetection and identifying discontinuities in the image of the item oflaundry.

In a further example, the platforms 112A-C may be constructed or coatedin a contrast-promoting material. In examples, the material may bereflective, light (e.g. white), or dark (e.g. brown, blue, red, grey,black), or illuminated, and may depend upon the color and/or physicalproperties of the item of laundry to be evaluated. Increased contrastbetween the platform and the item of laundry being imaged may help inidentification of damage to the item of laundry. In still furtherexamples, the evaluation zones 116A-C are illuminated with light sources122. The light sources 122 may for example be arrays of light-emittingdiodes (LEDs), but may be other sources of light energy. The lightsources 122 may illuminate the evaluation zones 116A-C with white lightor may use particular bands of wavelengths of visible (e.g. white, red,green, and/or blue) light or invisible (e.g. ultraviolet or infrared)light energy.

After the evaluation of the item of laundry in the evaluation zone 116B,the motor 114B operates the platform 112B to rotate to or through adispositive position, as described above with respect to platform 112A.Rotation of the platform 112B to or through the dispositive positiondrops the item of laundry off of the platform 112B. This may also imparta rotational moment on the item of laundry, which causes the item oflaundry to reverse sides and spread out on the platform 112C.Furthermore, an axis of rotation 124B of the platform 112B, along shaft130B, is exemplarily at a 90° angle to an axis of rotation 124A of theplatform 112A, along shaft 130A. In this relationship, the item oflaundry is rotated and/or flipped about different coordinate axesrespectively by platform 112A and 112B. This may help to ensure that theportions of the item of laundry facing upwards from the platform 112Cwithin the evaluation zone 116C are different than those which wereexposed while the item of laundry was in the evaluation zone 116B and/orin the evaluation zone 116A. With the item of laundry resting on theplatform 112C, the camera 118C acquires at least one image of the itemof laundry. These images are provided to the controller 200 andevaluated in the same manner as described above with respect to theevaluation of the item of laundry in evaluation zone 116B, only toevaluate the opposing side of the item of laundry.

Once the analysis of the at least one image acquired by the camera 118Cis complete, the controller 200 makes a final determination of thecondition of the item of laundry. The results of the evaluationsperformed at each of the evaluation zones are combined to determine ifthe item of laundry is acceptable for customer use or is unacceptableand should be manually evaluated for an alternative use and/or disposedof. In an example, if the item of laundry is outside of an acceptablerange of any of the evaluations (weight, color, condition), then theitem of laundry fails the evaluation, and the controller 200 provides anoperating signal to the motor 114C to move the platform 112C to adisposition position to direct the item of laundry into a receptacle 126of rejected items of laundry. If the item of laundry is within theacceptable range for all of the evaluations above, then the controller200 provides an operating signal to the motor 114C to move the platform112C to a disposition position to direct the item of laundry into areceptacle 128 for acceptable items of laundry. These items of laundrymay be gathered for delivery to the customer. While a bin or containeris depicted as the receptacle 128, it will be recognized that thereceptacle 128 may alternatively be a conveyor or another processingmachine, for example, a stacking or folding machine.

Other variations of the system 100 described above are contemplated. Forexample, examples of the system 100 that include more or fewercomponents than those described above are contemplated from the abovedisclosure. In a further example, the platform 112A, motor 114A, andevaluation zone 116A may be combined with the platform 112B motor 114B,and evaluation zone 116B may be functionally combined into a singleplatform 112, motor 114, and evaluation zone 116. This may exemplarilybe implemented by performing the image processing evaluations describeabove with respect to the evaluation zone 116B based upon the imagesacquired by the camera 118A while the item of laundry is in evaluationzone 116A. In such an example, the system 100 may exemplarily providethe item of laundry direction from evaluation zone 116A to evaluationzone 116C. FIG. 4 is a system diagram of an example of the system 100for sorting and evaluating laundry. The system 100 includes thecontroller 200 that is communicatively connected to the components ofthe system 100, including, but not limited to, the cameras 118A-C,motors 114A-C, and the load cell 120. The controller 200 is furthercommunicatively connected to a memory 202 in the form of a non-transientcomputer-readable medium upon which the algorithms, models, andevaluation criteria as described above may be stored for access andprocessing of images received from the cameras 118A-C. As noted above,the controller 200 may be configured to evaluate a particular type oflaundry or may identify the type of item of laundry to be evaluatedbased upon images received from camera 118A. The controller 200 isexemplarily a single board computer (SBC) or a central processing unit(CPU), that includes a processor. The processor of controller 200 may beintegral with or communicatively connected to a computer-readable mediumupon which computer-readable code is stored. Upon execution of thecomputer-readable code by the processor, the processor performsfunctions and calculations and subsequently transmits control signals aspreviously described. The controller 200 receives the images from thecameras 118A-C and from the load cell 120. In an example, the controllersequentially operates the motors 114A-C from bottom to top along thehousing 102 so that each evaluation zone 116A-C is clear to receive apiece of laundry falling from a subsequently higher evaluation zone116A-C. When the piece of laundry is at the evaluation zone 116C, thecontroller 200 makes a determination if the piece of laundry has passedthe evaluation and provides a control signal to the motor 114C tooperate the platform 112C into a dispositive position for laundry itemsthat failed the inspection or to a dispositive position for laundryitems that have passed the inspection. This final determination isexemplarily based upon some or all of the measured criteria describedabove, including the weight, color, and condition of the item oflaundry. In still further examples, the controller 200 iscommunicatively connected to an output device 204. The output device 204may be a graphical display, visually perceptible LED lights, an audiblealarm, or a device that outputs an electronic message or communicationto another computing device located remote from the system 100. Thecontroller 200 operates for the output device 204 to present aperceptible message to an operator or other personnel, for example, toindicate that a laundry item has failed the evaluation, that anunexpected laundry item type has been detected in the system, or that nomore laundry items have been received at the first evaluation zone 116A.

In the example of the system 100 depicted in FIGS. 1-3 , a conveyor 110operates to advance singulated pieces of laundry to the opening 108 ofthe housing 102. The controller 200 may further operate to providecontrol signals to a motor of the conveyor 110 to advance the conveyor110 in response to a return of the platform 112A to the support positionto receive a subsequent item of laundry for evaluation. In still furtherexamples, a robotic singulator 206, as described in further detailherein, may be used within the system 100 to select individual items oflaundry and to drop the individual items of laundry through the opening108 of the housing 102. While the robotic singulator 206 may include oneor more of its own controllers, such as to carry out the functions andoperations of the robotic singulator 206 as described herein, thecontroller 200 may communicate with the robotic singulator 206, tocoordinate the robotic singulator 206 operation to drop a subsequentitem of laundry through the opening 108 once the platform 112A hasreturned to a support position. Additionally, it will be recognized thatexamples of the robotic singulator 206 depicted and described herein mayalso be used in other locations and/or functions of a laundry processingsystem, for example, but not limited to, selection of individual piecesof dirty laundry or selection and movement of pieces of laundry within alaundry system, for example to transport washed laundry into a manglefor dewatering/drying.

FIGS. 5 and 6 depict an example of the robotic singulator 206 as may beused in connection with examples of the system 100. FIG. 5 is anisometric view and FIG. 6 is a close-up detailed view of the roboticsingulator 206 grasping an item of laundry 106.

The robotic singulator 206 exemplarily operates to remove a single itemof laundry 106 from a pile 208 of items of laundry. The roboticsingulator 206 includes an end effector 210 which may be a gripper, asdepicted, or may be a suction end effector, although other examples ofend effectors 210 may be recognized based upon the present disclosureand are considered to be within the scope of the present disclosure. Therobotic singulator 206 includes an arm 212 made up of a plurality ofarticulating joints 214. The articulating joints may exemplarily includemotors, linear actuators, or other mechanics configured to move theportions of the arm 212 about the articulating joints 214. Thesearticulating joints 214 enable the arm 212 to move the end effector 210into position to grasp a single item of laundry 106 from the pile 208and to subsequently transport the item of laundry 106 to a nextlocation, for example dropped through opening 108 of the housing 102 oronto the conveyor 110. The robotic singulator 206 further includes acamera 216 and/or computer vision system, for example in combinationwith a singulator controller 218. While the camera 216 and thecontroller 218 are exemplarily depicted as physically connected to thearm 212, in other examples, the camera(s) 216 may be located at a fixedlocations(s) relative to the pile 208 and the arm 212. In otherexamples, the singulator controller 218 may be communicatively connectedto the In an example, the singulator controller 218 is the same as thecontroller 200 described above, although in other examples, thecontroller 200 and controller 218 are separate components but may becommunicatively connected for coordination of the robotic singulator 206within the system 100. The camera 216 is exemplarily an iRVision 3Dsystem with a 3DV Sensor available from FANUC America Corp. of RochesterHills, Mich., USA, and the associated software and firmware used tooperate this camera system and to provide analysis of the imagescaptured thereby.

The camera 216 is mounted either at a fixed relationship to the endeffector 210 of the arm 212 or is mounted to a fixed location relativeto a loading zone (e.g. the pile of laundry 208). Laundry in the pile oflaundry 208 may exemplarily be clean laundry, and may exemplarily beprovided on a table, bin, or a horizontal or angled conveyor. Thecomputer vision system (e.g a combination of the camera 216 and thecontroller 218 communicatively connected to the camera 216) exemplarilycreates a point-cloud of the pile of laundry 208. The controller 218 isassociated with the camera/computer vision system and the robotic armidentifies a peak of the point-cloud.

In an example, the computer system identifies a single peak in thepoint-cloud. In an example, the peak of the point-cloud is identified asthe geometrically closest point of the point-cloud to a reference pointR, for example within a 3D coordinate system. The reference point mayexemplarily be a point R above the surface of the loading zone, aportion of the camera 216, or another point of reference. The controller218 provides coordinate instructions to the robotic arm 212 to move theend effector 210 for example within the 3D coordinate system to theidentified peak in the point-cloud. The end effector 210 is operated toclose on the peak or at a predetermined position relative to theidentified peak. This has been found by the inventors to reliably selecta single piece of laundry from a pile of laundry. It will be recognizedthat while a 3D coordinate system has been described, that othercoordinate systems may be used while remaining within the scope of thepresent disclosure.

Once the piece of laundry is gripped by the end effector 210 of therobotic arm 212, the robotic arm 212 moves the single piece of laundry106 to a destination location. While other examples are alsocontemplated, the robotic arm 212 may deliver the single piece oflaundry 106 to the opening 108 of the laundry evaluation system 100 asdescribed above. In such an example, the robotic arm 212 lifts the pieceof laundry to the top of the system 100 above the opening 108, forexample, represented by a 3D coordinate, and releases the piece oflaundry to fall through the opening 108 for evaluation as describedabove. After the piece of laundry is released, the robotic arm 212 isoperated by the controller 218 to return the end effector 210 to theloading zone to identify a subsequent peak of the point cloud and asubsequent piece of laundry.

It will be recognized that the example provided above is merelyexemplary and provided to support disclosure while recognizing that thesingulator depicted therein may be modified in function, design, oroperation for use in conjunction with the optical evaluation systemdescribed above or as another component within an automated orsemi-automated laundry system. In an example, the conveyor 110 may beused in combination with the robotic singulator 206 with the conveyor110 advancing a pile of laundry to the loading zone of the roboticsingulator 206, the laundry is singulated as described herein, until thepile of laundry has been depleted, then the conveyor advances asubsequent pile of laundry to the loading zone.

In a further example, rather than delivering the piece of laundry to theoptical evaluation system 100 as described above, the singulator maydeliver the piece of laundry to a flattening table (not depicted) which,for example, is a vibratory table that uses vibration to flatten thepiece of laundry. In a still further example, the flattened piece oflaundry may be moved into a mangle or automatedly folded. In otherexamples, an optical system, similar to that as previously described mayuse one or more cameras to evaluate a quality or condition of the pieceof laundry. The piece of laundry may be sorted off of this flatteningtable based upon the evaluation of the quality or condition of the pieceof laundry.

The systems and methods described above have been done so with respectto the evaluation and sorting of clean laundry. It will be recognizedthat applications may exist in which such systems and methods may beused in the processing and/or sorting of dirty laundry or elsewhereintermediate to a laundry cleaning process.

Citations to a number of references are made herein. The citedreferences are incorporated by reference herein in their entireties. Inthe event that there is an inconsistency between a definition of a termin the specification as compared to a definition of the term in a citedreference, the term should be interpreted based on the definition in thespecification.

In the above description, certain terms have been used for brevity,clarity, and understanding. No unnecessary limitations are to beinferred therefrom beyond the requirement of the prior art because suchterms are used for descriptive purposes and are intended to be broadlyconstrued. The different systems and method steps described herein maybe used alone or in combination with other systems and methods. It is tobe expected that various equivalents, alternatives and modifications arepossible within the scope of the appended claims.

The functional block diagrams, operational sequences, and flow diagramsprovided in the Figures are representative of exemplary architectures,environments, and methodologies for performing novel aspects of thedisclosure. While, for purposes of simplicity of explanation, themethodologies included herein may be in the form of a functionaldiagram, operational sequence, or flow diagram, and may be described asa series of acts, it is to be understood and appreciated that themethodologies are not limited by the order of acts, as some acts may, inaccordance therewith, occur in a different order and/or concurrentlywith other acts from that shown and described herein. For example, thoseskilled in the art will understand and appreciate that a methodology canalternatively be represented as a series of interrelated states orevents, such as in a state diagram. Moreover, not all acts illustratedin a methodology may be required for a novel implementation.

This written description uses examples to disclose the invention,including the best mode, and also to enable any person skilled in theart to make and use the invention. The patentable scope of the inventionis defined by the claims, and may include other examples that occur tothose skilled in the art. Such other examples are intended to be withinthe scope of the claims if they have structural elements that do notdiffer from the literal language of the claims, or if they includeequivalent structural elements with insubstantial differences from theliteral languages of the claims.

1. A laundry sorting and evaluation system, the system comprising: ahousing having an opening and defining a laundry path; a first platformwithin the housing, the first platform operably connected to a firstmotor, the first motor configured to move the first platform between asupportive position and at least one dispositive position; a firstcamera associated with the first platform and configured to acquire atleast one first image of an item of laundry on the first platform in thesupportive position; a second platform within the housing, the secondplatform below the first platform, the second platform operablyconnected to a second motor, the second motor configured to move thesecond platform between a supportive position and at least onedispositive position; a second camera associated with the secondplatform and configured to acquire at least one second image of the itemof laundry on the second platform in the supportive position; and acontroller configured to receive the at least one image from the firstcamera and the at least one image from the second camera and to producean evaluation of a condition of the item of laundry based upon the atleast one first image and the at least one second image.
 2. The laundrysorting and evaluation system of claim 1, wherein the at least onedispositive position of the second platform comprises a firstdispositive position and a second dispositive position, and wherein thecontroller operates the second motor to move the second platform intothe first dispositive position or the second dispositive position basedupon the evaluation of the condition of the item of laundry.
 3. Thelaundry sorting and evaluation system of claim 2, wherein the controlleris configured to receive the at least one first image and the at leastone second image and to produce the evaluation of the condition of thelaundry based upon the at least one first image and the at least onesecond image wherein if the evaluation is an acceptable condition, thecontroller is configured to operate the second motor to move the secondplatform to the first dispositive position and if the evaluation is anunacceptable condition, and the controller is configured to operate thesecond motor to move the second platform to the second dispositiveposition.
 4. The laundry sorting and evaluation system of claim 3,wherein the controller is configured to produce a user-perceptibleoutput of the evaluation of the condition of the item of laundry.
 5. Thelaundry sorting and evaluation system of claim 3, wherein the firstplatform comprises a load cell, the load cell configured to measure aweight the item of laundry on the first platform in the supportiveposition, and the controller is configured to receive the weight fromthe load cell and the evaluation of a condition of the item of laundryby the controller is further based upon the weight.
 6. The laundrysorting and evaluation system of claim 3, wherein: the first platform isconfigured to receive the item of laundry in the supportive position,and after the controller receives the at least one first image, thecontroller is configured to operate the first motor to move the firstplatform to the at least one dispositive position configured for theitem of laundry to fall from the first platform in the at least onedispositive position to the second platform in the supportive position;and the second platform is configured to receive the item of laundry inthe supportive position, and after the controller receives the at leastone second image, the controller is configured to operate the secondmotor to move the second platform to the first dispositive position orthe second dispositive position.
 7. The laundry sorting and evaluationsystem of claim 6, wherein movement of the first platform from thesupportive position to the at least one dispositive position isconfigured to flip the item of laundry over before landing on the secondplatform in the supportive position.
 8. The laundry sorting andevaluation system of claim 3, further comprising: a robotic singulatorconfigured to grasp the item of laundry and to drop the item of laundrythrough the opening of the housing or onto a conveyor configured to dropthe item of laundry through the opening of the housing.
 9. The laundrysorting and evaluation system of claim 8, wherein the robotic singulatorfurther comprises: an end effector configured to grasp the item oflaundry; a singulator camera positioned in proximity to the end effectorand configured to obtain at least one laundry image; and a singulatorcontroller configured to receive the at least one laundry image, createa point-cloud from the at least one image, select a peak of thepoint-cloud in reference to a reference point, and control the endeffector to the peak of the point-cloud to grasp the item of laundry.10. The laundry sorting and evaluation system of claim 3, furthercomprising: at least one first light source positioned relative to thefirst platform and configured to illuminate the item of laundry when onthe first platform in the supportive position; and at least one secondlight source positioned relative to the second platform and configuredto illuminate the item of laundry when on the second platform in thesupportive position.
 11. The laundry sorting and evaluation system ofclaim 1, wherein at least one of the first platform and the secondplatform comprises a material configured to contrast with the item oflaundry.
 12. The laundry sorting and evaluation system of claim 1,further comprising: a third platform within the housing and locatedbetween the first platform and the second platform, the third platformoperably connected to a third motor, the third motor configured to movethe third platform between a supportive position and at least onedispositive position; and a third camera associated with the secondplatform and configured to acquire at least one third image of the itemof laundry on the third platform in the supportive position; wherein theevaluation of a condition of the item of laundry is further based uponthe at least one third image.
 13. A system for evaluating and sorting anitem of laundry, the system comprising: a housing having an opening anddefining a laundry path; a load cell within the housing configured toweigh the item of laundry; a first platform within the housing, thefirst platform operably connected to a first motor, the first motorconfigured to move the first platform between a supportive position andat least one dispositive position; a first camera associated with thefirst platform and configured to acquire at least one first image of anitem of laundry on the first platform in the supportive position; asecond platform within the housing, the second platform below the firstplatform, the second platform operably connected to a second motor, thesecond motor configured to move the second platform between a supportiveposition and at least one dispositive position; a second cameraassociated with the second platform and configured to acquire at leastone second image of the item of laundry on the second platform in thesupportive position; and a controller configured to receive the at leastone first image from the first camera, the at least one second imagefrom the second camera, and a weight from the load cell, the controllerconfigured to produce an evaluation of the condition of the laundrybased upon the at least one first image, the at least one second image,and the weight wherein if the evaluation is an acceptable condition, thecontroller is configured to operate the second motor to move the secondplatform to the first dispositive position, and if the evaluation is anunacceptable condition, the controller is configured to operate thesecond motor to move the second platform to the second dispositiveposition.
 14. The system of claim 13, wherein the controller isconfigured to identify the item of laundry from the at least one firstimage.
 15. The system of claim 13, wherein the controller is configuredto evaluate the at least one second image for color or discontinuity toevaluate the condition of the item of laundry.
 16. The system of claim13, further comprising: a third platform within the housing and locatedbetween the first platform and the second platform, the third platformoperably connected to a third motor, the third motor configured to movethe third platform between a supportive position and at least onedispositive position; and a third camera associated with the secondplatform and configured to acquire at least one third image of the itemof laundry on the third platform in the supportive position; wherein theevaluation of a condition of the item of laundry is further based uponthe at least one third image.
 17. The system of claim 16, wherein anaxis of rotation of the third platform is perpendicular to an axis ofrotation of the first platform; and wherein movement of the firstplatform to the at least one dispositive position is configured to causethe item of laundry to flip over while falling from the first platformto the third platform in the supportive position, and movement of thethird platform to the at least one dispositive position is configured tocause the item of laundry to flip over while falling from the thirdplatform to the second platform in the supportive position.
 18. Thesystem of claim 17, wherein the controller is configured to identify alaundry type from the at least one first image, the controller isconfigured to evaluate the at least one third image for color ordiscontinuity based upon the identified laundry type, and the controlleris configured to evaluate the at least one second image for color ordiscontinuity based upon the identified laundry type.
 19. The system ofclaim 13, further comprising a singulator that operates to provide theitem of laundry through the opening into the housing.
 20. The system ofclaim 19, wherein the singulator is a robotic singulator, the roboticsingulator comprising: an articulable robotic arm; an end effector atthe end of the articulable robotic arm, the end effector configured tograsp the item of laundry; a singulator camera positioned in proximityto the end effector and configured to obtain at least one laundry image;and a singulator controller configured to receive the at least onelaundry image, create a point-cloud from the at least one image, selecta peak of the point-cloud in reference to a reference point, and controlthe end effector to the peak of the point-cloud to grasp the item oflaundry.